Portable type flexible-elbow-joint exoskeleton robot

Abstract

The invention discloses a portable type flexible-elbow-joint exoskeleton robot which mainly comprises an elbow joint exoskeleton mechanism, a drive mechanism and a control device. According to the portable type flexible-elbow-joint exoskeleton robot disclosed by the invention, exoskeletons and the drive mechanism are separately arranged, so that transmission is realized through structural transition of a steel wire rope and a wheel disc. With the aspect of a drive mode, a rope drive structure is in series connected with an elastic driver in a matched mode, so that the portable type flexible-elbow-joint exoskeleton robot has the advantages of high control precision, low output impedance, strong impact resistance, good wearing portability and the like. Two passive degrees of freedom are designed into exoskeletons, and movement characteristics of human elbow joints is simulated, so that self-adaptive regulation on the exoskeletons and the human elbow joints is realized, and therefore, the human elbow joints are protected from being harmed during movement. The portable type flexible-elbow-joint exoskeleton robot is simple and compact in structure and realizes scientific rehabilitation training on elbow joints of a patient. Meanwhile, the portable type flexible-elbow-joint exoskeleton robot further has a power assisting function, and is suitable for being applied and popularized in transportation, climbing and the like.

Description

technical field [0001] The present invention relates to a portable flexible elbow-joint exoskeleton robot, in particular to a rope-driven elbow-joint exoskeleton robot based on a series elastic actuator (SEA). Background technique [0002] With the intensification of population aging in my country, upper limb motor dysfunction is a common disease of middle-aged and elderly people, and the incidence rate is increasing year by year. In order to solve the inconvenience caused by upper limb motor dysfunction to patients, the current rehabilitation treatment mainly includes clinical rehabilitation treatment and rehabilitation equipment treatment. Clinical rehabilitation mainly relies on the one-on-one treatment between rehabilitation therapists and patients. However, this consumes too much manpower and material resources, so people pay more and more attention to the research on rehabilitation equipment. Compared with other rehabilitation equipment, upper limb exoskeleton robot...

AI Technical Summary

Problems solved by technology

Compared with most of the existing domestic and foreign studies, it is found that it has the following problems: complex structure, troublesome to wear; the robot drive is rigid and not flexible, and it is easy to cause secondary injuries during the rehabilitation training process of patients

The drive control is too complicated, the drive joints are directly connected to the rigid motor, the movement lacks flexibility, and the safety cannot be guaranteed. In addition, the robot requires the patient to sit on the seat for rehabilitation treatment, and the structure does not consider portability

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